A rock-piercing flexible rock drilling robot and a rock breaking method therefor are disclosed. The robot includes a control system, a head, and at least one tail. The head includes a head housing, a propulsion turntable, a drilling mechanism, a hydraulic propulsion system, a first driving mechanism, and a second driving mechanism. The propulsion turntable includes a drill bit located at a center thereof and a cutting turntable arranged around the drill bit. The first driving mechanism is connected to the drill bit, and the second driving mechanism is connected to the cutting turntable. The tail includes a tail housing, an advancing and retreating power system, and a fixed support system. The head and the tail are connected through a flexible component, and the tails are connected through flexible components.

Downhole tractor control systems and methods to adjust a load of a downhole motor to drive one or more wheels of the downhole tractor are disclosed. A method to adjust a load of a downhole motor includes receiving a user input of a desired speed and torque for a plurality of motors, where the plurality of motors powering rotation of wheels of a downhole tractor. The method also includes determining a minimum actual motor speed of the plurality of motors. For at least one motor of the plurality of motors, the method includes determining a power controller output and determining a torque controller output. The method further includes adjusting a voltage source invertor based on a lesser of the power controller output and the torque controller output to modulate voltage provided to the at least one motor.

Downhole tractor control systems and methods to adjust a load of a downhole motor to drive one or more wheels of the downhole tractor are disclosed. A method to adjust a load of a downhole motor includes receiving a user input of a desired speed and torque for a plurality of motors, where the plurality of motors powering rotation of wheels of a downhole tractor. The method also includes determining a minimum actual motor speed of the plurality of motors. For at least one motor of the plurality of motors, the method includes determining a power controller output and determining a torque controller output. The method further includes adjusting a voltage source invertor based on a lesser of the power controller output and the torque controller output to modulate voltage provided to the at least one motor.

A gripper mechanism for a downhole tool is disclosed that includes an eccentric linkage mechanism. In operation, an axial force generated by a power section of the gripper expands the linkage mechanism, which applies a radial force to the interior surface of a wellbore or passage. A sliding portion allows the gripper to slide along a surface of the formation in response to the radial force applied to the interior surface of the wellbore or passage.

A gripper mechanism for a downhole tool is disclosed that includes an eccentric linkage mechanism. In operation, an axial force generated by a power section of the gripper expands the linkage mechanism, which applies a radial force to the interior surface of a wellbore or passage. A sliding portion allows the gripper to slide along a surface of the formation in response to the radial force applied to the interior surface of the wellbore or passage.

The present invention relates to a downhole self-propelling wireline tool string for being connected to and powered by a wireline for propelling a tool forward in a well and/or for providing weight on a bit while performing an operation, comprising a first downhole self-propelling wireline tool, comprising a first tool body, a first electric motor operating at a rotational speed, a first electric control unit for controlling the rotational speed of the electric motor, one first drive section, comprising a plurality of projectable arm assemblies movably connected at a first arm end with the tool body and projectable from the tool body by means of a first fluid having a first fluid pressure, and a plurality of wheels for contacting a wall of the well, each wheel comprising a hydraulic motor for rotation of the wheel to provide a self-propelling movement, and each wheel being connected with a second arm end of one of the arm assemblies, a first hydraulic pump driven by the electric motor for generation of a second fluid pressure for driving the hydraulic motor(s) rotating the wheel(s), and wherein the downhole self-propelling wireline tool string further comprises a second downhole self-propelling wireline tool, comprising a second tool body, a second electric motor operating at a rotational speed, a second electric control unit for controlling the rotational speed of the electric motor, one second drive section comprising a plurality of projectable arm assemblies movably connected at a first arm end with the tool body and projectable from the tool body by means of a first fluid having a third fluid pressure, and a plurality of wheels for contacting the wall of the well, each wheel comprising a hydraulic motor for rotation of the wheel, and each wheel being connected with a second arm end of one of the arm assemblies, at least one second hydraulic pump driven by the second electric motor for generation of a fourth fluid pressure for driving the hydraulic motor(s) rotating the wheel(s), and wherein each electric motor comprises a power-limiting unit in order to distribute a first part of the current from the wireline to power the first electric motor and a second part of the current to power the second electric motor.

An electric motor-actuated tractor (e-Tractor) apparatus and method for use in downhole operations. The apparatus includes a power subassembly, a tractor subassembly and one or more gripper subassemblies and can be: run in a single or multiple e-Tractor configuration; run in either intermittent-motion tractoring mode or continuous-motion tractoring mode with the ability to switch between the two modes; used to generate both distal and proximal longitudinal forces to move the run-in string into or out of the wellbore; repeatedly activated and deactivated without run-in string manipulation or hydraulic pressure; and combined with tensiometer and other sensor package options to provide real-time data to the surface to optimize tractoring operations. The apparatus and method are well-suited for application in an c-coil conveyed workover or completion system, and for use in extended reach laterals in horizontal wells.

An electric motor-actuated tractor (e-Tractor) apparatus and method for use in downhole operations. The apparatus includes a power subassembly, a tractor subassembly and one or more gripper subassemblies and can be: run in a single or multiple e-Tractor configuration; run in either intermittent-motion tractoring mode or continuous-motion tractoring mode with the ability to switch between the two modes; used to generate both distal and proximal longitudinal forces to move the run-in string into or out of the wellbore; repeatedly activated and deactivated without run-in string manipulation or hydraulic pressure; and combined with tensiometer and other sensor package options to provide real-time data to the surface to optimize tractoring operations. The apparatus and method are well-suited for application in an c-coil conveyed workover or completion system, and for use in extended reach laterals in horizontal wells.

A drilling turbine (1) comprises a housing (2) in which a drive shaft (6) is rotatably mounted, and a turbine impeller (3) designed to set the drive shaft (6) in rotation. The drive shaft (6) is connectable to a drilling tool (4, 5). The housing has at least one drive line (9, 12) with at least one drive mouth (19), through which a drive fluid can be directed onto the turbine impeller (3). The turbine impeller (3) is connected directly to the drive shaft (6) such that, during operation, the turbine impeller (3), the drive shaft (6) and the drilling tool (4, 5) rotate at the same rotational speed. The housing (2) has a diameter of about 2.5 to about 15 cm and/or a length of about 3 cm to about 15 cm. A method for directional drilling uses a drilling turbine of this type.

A modular compaction boring device. The boring device comprises a compaction boring head which creates a borehole through a subsurface by operation of a thruster and a rear and forward anchor. Extension of the thruster while the rear anchors are engaged move the boring head forward. Retraction of the thruster while the forward anchors are engaged brings the rear anchors forward for an addition stroke. A steering geometry in the boring head and rotation of the boring head allow steering of the boring device. Steering, thrust, and anchors may be controlled remotely through an umbilical cable pulled through the borehole by the boring device.